A Hamiltonian Framework for Kinodynamic Planning and Control
نویسندگان
چکیده
Control based on artiicial potentials results in bounded-torque controllers. We extend this notion by devising energy-reference controllers that use harmonic potentials to produce collision-free kinodynamic behavior. In addition, the phase space structure of a manipulator controlled by an artiicial potential \copies" the critical point structure of that potential. This result is used in conjunction with harmonic potentials to generate and control convergent and repetitive motions for a manipulator.
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تاریخ انتشار 1995